Turtlebot3中级教程-更新源代码和固件

Turtlebot3中级教程-更新源代码和固件

说明：

• 本教程介绍如何在turtlebot3中更新源代码和固件

操作步骤：

• 更新源代码

• [Remote PC] 更新PC中源代码

$ cd ~/catkin_ws/src/turtlebot3
$ git pull 
$ cd ~/catkin_ws/src/turtlebot3_msgs
$ git pull 
$ cd ~/catkin_ws/
$ catkin_make

• [TurtleBot] 更新树莓派或Joule开发板中源代码

$ cd ~/catkin_ws/src/turtlebot3
$ git pull 
$ cd ~/catkin_ws/src/turtlebot3_msgs
$ git pull 
$ cd ~/catkin_ws/src/hls_lfcd_lds_driver
$ git pull 
$ cd ~/catkin_ws/
$ catkin_make -j1

• 更新固件

• [Burger] 更新OpenCR中的固件

$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=burger
$ rm -rf ./opencr_update.tar.bz2
$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2 
$ tar -xvf opencr_update.tar.bz2 
$ cd ./opencr_update
$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

• [Waffle or Waffle Pi] 更新OpenCR中的固件

$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=waffle
$ rm -rf ./opencr_update.tar.bz2
$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2 
$ tar -xvf opencr_update.tar.bz2 
$ cd ./opencr_update
$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr